Robot control method
AssigneePanasonic Intellectual Property Management Co., Ltd.
InventorsHiroyuki Nakata, Atsumi Hashimoto, Ryosuke Yamamoto, Yasuyoshi Honuchi
Life of this patent
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Abstract
A robot control method of controlling motion of a robot arm by using a servo motor includes adding d-axis electric current to a motor electric current command (steps 15-6, 15-8) if external temperature is less than or equal to a predetermined value (step 15-3), and if an absolute value of the motor electric current command is less than or equal to a predetermined value (step 15-4), and if a value of detected overload is less than or equal to a predetermined value (step 15-5).
Claims1
An apparatus for controlling motion of a robot arm, the apparatus comprising:
- a temperature sensor that measures a temperature;
- and
- a servo controller that
- determines whether the temperature is less than or equal to a first predetermined value,
- determines whether an absolute value of a motor electric current command is less than or equal to a second predetermined value if the temperature is less than or equal to the first predetermined value,
- determines whether a value of a detected overload is less than or equal to a third predetermined value if the absolute value of the motor electric current command is less than or equal to the second predetermined value, and
- adds a d-axis electric current to the motor electric current command if the value of detected overload is less than or equal to the third predetermined value, and
- controls the motion of the robot arm using the motor electric current command after the d-axis electric current is added to the motor electric current command.
Dependencies are inferred from the claim text.